Computer Science – Neural and Evolutionary Computing
Scientific paper
2007-06-07
D. Sofge and G. Chiang, "Design, ... a Serpentine Automated Waste Retrieval Manipulator," Amer. Nucl. Soc. 9th Top. Meeting on
Computer Science
Neural and Evolutionary Computing
Scientific paper
Design, implementation, and machine learning issues associated with developing a control system for a serpentine robotic manipulator are explored. The controller developed provides autonomous control of the serpentine robotic manipulatorduring operation of the manipulator within an enclosed environment such as an underground storage tank. The controller algorithms make use of both low-level joint angle control employing force/position feedback constraints, and high-level coordinated control of end-effector positioning. This approach has resulted in both high-level full robotic control and low-level telerobotic control modes, and provides a high level of dexterity for the operator.
Chiang Gerald
Sofge Donald
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